cmake_minimum_required(VERSION 3.5)
project(hand_driver)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(hand_msgs REQUIRED)

# 添加 libcscan.so 库的路径
#link_directories(${CMAKE_CURRENT_SOURCE_DIR}/lib)

# 添加包含目录
include_directories(
  include
  ${ament_INCLUDE_DIRS}
)

add_executable(hand_driver_node src/hand_driver_node.cpp)
ament_target_dependencies(hand_driver_node rclcpp sensor_msgs std_msgs hand_msgs)

# 链接 libcscan.so 库
target_link_libraries(hand_driver_node cscan controlcan)

install(TARGETS
  hand_driver_node
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY
  config
  launch
  include
#  lib
  DESTINATION share/${PROJECT_NAME} 
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
